Method and device for estimating movement parameters of targets

A method of providing at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the method comprising:

• providing on the object a sensor system to transmit and receive a plurality of signals to determine at least two measured values for at least one of a distance and a relative radial velocity of the target object;
• determining the at least two measured values;
• analyzing the at least two measured values based on the plurality of signals received by a receiver;
• and
• providing the at least two parameter values based on analyzing the at least two measured values;
• wherein the at least two measured values are at least two target object distances that are measured at different points in time and the target object distance is described by the following equation:
• r = f ⁢ ⁢ ( p → , t ) = ( r 0 ⁢ ⁢ cos ⁢ ⁢ ( α 0 ) + v 0 ⁢ ⁢ t + at 2 / 2 ) 2 + ( r 0 ⁢ ⁢ sin ⁢ ⁢ ( α 0 ) ) 2 ,
• where r0 is the target object distance in a first measurement, v0 is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α0 is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

A method of providing at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the method comprising:

• providing on the object a sensor system to transmit and receive a plurality of signals to determine at least two measured values for at least one of a distance and a relative radial velocity of the target object;
• determining the at least two measured values;
• analyzing the at least two measured values based on the plurality of signals received by a receiver;
• and
• providing the at least two parameter values based on analyzing the at least two measured values;
• wherein the at least two measured values include at least two relative radial velocities of the target object that are measured at at least two different points in time and the relative radial velocity of the target object is described by the following equation:
• v r = f ⁢ ( p → , t ) = ( v 0 + at ) ⁢ ( r 0 ⁢ cos ⁡ ( α 0 ) + v 0 ⁢ t + at 2 / 2 ) ( r 0 ⁢ cos ⁡ ( α 0 ) + v 0 ⁢ t + at 2 / 2 ) 2 + ( r 0 ⁢ sin ⁡ ( α 0 ) ) 2 ,
• where r0 is the target object distance in a first measurement, v0 is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α0 is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

A method of providing at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the method comprising:

• providing on the object a sensor system to transmit and receive a plurality of signals to determine at least two measured values for at least one of a distance and a relative radial velocity of the target object;
• determining the at least two measured values;
• analyzing the at least two measured values based on the plurality of signals received by a receiver;
• and
• providing the at least two parameter values based on analyzing the at least two measured values;
• wherein for estimating the at least two parameter values, a norm Q({right arrow over (p)}) is defined as follows:
• Q({right arrow over (p)})=Q1({right arrow over (p)})=∥rik−fk({right arrow over (p)}, ti)∥, where k=1 or k=2, or
• Q({right arrow over (p)})=Q2({right arrow over (p)})=∥vik−fk({right arrow over (p)}, ti)∥, where k=1 or k=2, or
• Q({right arrow over (p)})=Q3({right arrow over (p)})=∥vik−fk({right arrow over (p)}, ti,ri)∥, where k=1 or k=2.

A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

• a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object;
• and
• an analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;
• wherein a vector {right arrow over (p)} is provided for analyzing the at least two measured values determined by the sensor system, the vector {right arrow over (p)} includes at least one of the at least two parameters and has the following form:
• {right arrow over (p)}=[a,v0,α0,
• where a is a relative acceleration of the target object, v0 is a relative initial velocity of the target object in a first measurement and α0 is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

• a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object;
• and
• an analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;
• wherein the sensor system determines the at least two measured values for at least two target object distances at at least two different points in time and the analyzing arrangement analyzes the target object distance based on the following equation:
• r = f ⁢ ⁢ ( p → , t ) = ( r 0 ⁢ ⁢ cos ⁢ ⁢ ( α 0 ) + v 0 ⁢ ⁢ t + at 2 / 2 ) 2 + ( r 0 ⁢ ⁢ sin ⁢ ⁢ ( α 0 ) ) 2 ,
• where r0 is the target object distance in a first measurement, v0 is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α0 is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

• a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object;
• and
• an analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;
• wherein the sensor system determines the at least two measured values for at least two relative radial velocities of the target object at at least two different points in time, and the analyzing arrangement analyzes the relative radial velocity of the target object by using the following equation:
• v r = f ⁢ ( p → , t ) = ( v 0 + at ) ⁢ ( r 0 ⁢ cos ⁡ ( α 0 ) + v 0 ⁢ t + at 2 / 2 ) ( r 0 ⁢ cos ⁡ ( α 0 ) + v 0 ⁢ t + at 2 / 2 ) 2 + ( r 0 ⁢ sin ⁡ ( α 0 ) ) 2 ,
• where r0 is the target object distance in a first measurement, v0 is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α0 is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

• a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object;
• and
• analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;
• wherein the analyzing arrangement defines a norm Q({right arrow over (p)}) as follows:
• Q({right arrow over (p)})=Q1({right arrow over (p)})=∥rik−fk({right arrow over (p)}, ti)∥, where k=1 or k=2, or
• Q({right arrow over (p)})=Q2({right arrow over (p)})=∥vik−fk({right arrow over (p)}, ti)∥, where k=1 or k=2, or
• Q({right arrow over (p)})=Q3({right arrow over (p)})=∥vik−fk({right arrow over (p)}, ti,ri)∥, where k=1 or k=2.